CN112528212A - Engineering truck EBI curve calculation method and device with ATP protection - Google Patents
Engineering truck EBI curve calculation method and device with ATP protection Download PDFInfo
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Abstract
The embodiment of the disclosure provides an engineering vehicle EBI curve calculation method, device, equipment and computer readable storage medium loaded with ATP protection. The method comprises the steps of receiving information sent by a ground system; the information comprises the distance from the engineering truck head to a target end point in the MA and the engineering truck speed; acquiring the corresponding maximum traction acceleration of the engineering truck from the smoothed acceleration-speed meter of the engineering truck according to the speed of the engineering truck; and generating an EBI curve according to the maximum traction acceleration of the engineering truck, the performance parameters of the engineering truck and the information sent by the ground system. In this way, the problem that the EBI curve is increased or decreased along with the increase or decrease of the speed due to the fact that the acceleration-speed curve of the engineering vehicle is changed along with the change of the speed in a relatively violent manner is solved.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of rail transit technology, and more particularly, to a method, an apparatus, a device, and a computer-readable storage medium for calculating an EBI curve of an ATP-equipped engineering truck.
Background
When a subway line has an equipment fault, how to quickly carry out rush repair and timely recover operation is a subject of constant attention in the subway operation process. In order to solve this problem, a new demand has been proposed for a construction vehicle equipped with an ATP for overspeed protection (for example, the length of the construction vehicle is 56 meters or 30 meters or 15 meters, and the vehicle speed is 80km/h), and the construction vehicle can be operated on-line during the normal operation of a subway line and run together with a passenger train (electric car).
And the ATP vehicle-mounted equipment generates a speed mode curve according to the information of the ground system and monitors the safe running of the train, wherein the speed mode curve comprises an emergency braking trigger curve EBI and an emergency braking curve EB. Wherein, the EB curve is: the critical speed of the train running with danger is the running track of the train speed after the train triggers the emergency braking under the most adverse conditions. The EBI curve is: if the train speed exceeds this curve, emergency braking will be applied.
However, the ATP speed protection curve (hereinafter referred to as EBI curve) of the subway electric bus is calculated based on certain vehicle performance parameters, and the difference between the vehicle performance parameters of the engineering vehicle and the common electric bus is large, as shown in table 1.
TABLE 1
| Class of parameters | Engineering truck | Common electric bus |
| Tractional resection delay time | 2.776s | 1.4s |
| Brake build-up delay | 2.5s | 0.878s |
| Worst emergency braking rate | 110cm/s/s | 88cm/s/s |
As shown in table 1, both the traction cut delay time and the brake set-up delay time of the machineshop car are longer than those of a normal electric motor car. And the traction acceleration of the engineering truck changes violently along with the change of the speed, and particularly the acceleration changes obviously at low speed and high speed.
Since there is an asynchrony of the command response due to the signal output emergency braking to the vehicle response applying emergency braking, this execution process can be divided into three phases, as shown in fig. 2:
stage one: a traction cut delay phase, in which, since the vehicle is a large mass moving body, there is a delay from the emission of the signal to the establishment of the signal, during which the vehicle is still in an acceleration phase;
and a second stage: a brake build-up delay phase in which traction has been removed but braking has not been fully built, during which the vehicle has not applied emergency braking but continues to coast;
and a third stage: an emergency braking phase, in which the vehicle starts a parking phase in response to the actual emergency braking applied in response to the signal.
When the EBI curve of the first stage is calculated, the acceleration value at the current speed is used, if the acceleration change is severe, the current EBI is reversely deduced to be gradually increased along with the acceleration reduction under the condition that the emergency braking vehicle-mounted system in the first stage responds and cuts off the traction for a certain time.
As shown in fig. 1, the traction acceleration of the engineering vehicle changes greatly with the change of the speed, and particularly, the acceleration changes obviously at low speed and high speed. Taking the line of Chengdu No. 5 as an example, when the train is at a low speed, the traction acceleration of the engineering vehicle changes greatly along with the speed, and the change of the small speed can bring about the great change of the traction acceleration. When the acceleration corresponding to the current speed of the engineering truck is used for calculating the speed limit of the obstacle in front of the locomotive and at the body of the engineering truck, the calculated EBI is higher than the calculated EBI at the low speed when the speed of the engineering truck rises; it may occur that the EBI sharply rises or falls following the speed of the work vehicle during acceleration or deceleration of the work vehicle.
Disclosure of Invention
According to the embodiment of the disclosure, an engineering vehicle EBI curve calculation scheme loaded with ATP protection is provided.
In a first aspect of the disclosure, a method for calculating an EBI curve of an engineering truck loaded with ATP protection is provided. The method comprises the following steps: receiving information sent by a ground system; the information comprises the distance from the engineering truck head to a target end point in the MA and the engineering truck speed; acquiring the corresponding maximum traction acceleration of the engineering truck from the smoothed acceleration-speed meter of the engineering truck according to the speed of the engineering truck; and generating an EBI curve according to the maximum traction acceleration of the engineering truck, the performance parameters of the engineering truck and the information sent by the ground system.
The above-described aspect and any possible implementation manner further provide an implementation manner, where the smoothed machineshop car acceleration-velocity table is obtained by: acquiring an acceleration-speed parameter of the engineering truck; and smoothing the acceleration-speed parameters of the engineering truck according to a preset smoothing rule to generate a smoothed acceleration-speed meter of the engineering truck.
The above-described aspect and any possible implementation manner further provide an implementation manner, where the presetting of the smoothing rule includes: and generating the corrected acceleration value of the engineering truck according to the acceleration change rate in the low-speed, medium-speed and high-speed areas by taking the initial acceleration value of the engineering truck as a reference.
The above-mentioned aspects and any possible implementation manner further provide an implementation manner, and the preset smoothing rule is obtained by reversely deducing the acceleration change rate according to a target EBI curve of the engineering vehicle.
The above-described aspect and any possible implementation manner further provide an implementation manner, where the preset smoothing rule is obtained by: calculating inflection points of an acceleration-speed curve of the electric bus, and dividing the acceleration-speed curve into different areas; the average values of the acceleration change rates in the different regions are calculated, respectively.
The above aspect and any possible implementation manner further provide an implementation manner, where generating an EBI curve according to the maximum traction acceleration of the engineering truck, the engineering truck performance parameters, and the information sent by the ground system includes: calculating the EBI speed limit of the position of the vehicle head; calculating the EBI speed limit at the vehicle body; and determining the EBI speed limit of the train according to the EBI speed limit at the position of the train head and the EBI speed limit at the position of the train body.
The above-described aspects and any possible implementations further provide an implementation, and the method further includes: and adjusting the corrected acceleration value of the engineering truck according to the correlation between the EBI speed limit and the speed of the engineering truck.
In a second aspect of the disclosure, an engineering vehicle EBI curve calculation device loaded with ATP protection is provided. The device includes: the receiving module is used for receiving information sent by the ground system; the information comprises the distance from the engineering truck head to a target end point in the MA and the engineering truck speed; the performance parameter acquisition module is used for acquiring the corresponding maximum traction acceleration of the engineering truck from the acceleration-speed meter of the engineering truck after the smoothing treatment according to the speed of the engineering truck; and the calculation module is used for generating an EBI curve according to the maximum traction acceleration of the engineering truck, the performance parameters of the engineering truck and the information sent by the ground system.
In a third aspect of the disclosure, an electronic device is provided. The electronic device includes: a memory having a computer program stored thereon and a processor implementing the method as described above when executing the program.
In a fourth aspect of the present disclosure, a computer readable storage medium is provided, having stored thereon a computer program, which when executed by a processor, implements a method as in accordance with the first aspect of the present disclosure.
It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
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The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
FIG. 1 shows a schematic of an acceleration-velocity curve and an EBI curve of a work vehicle according to an embodiment of the present disclosure;
FIG. 2 shows a flow chart of a method for calculating an EBI curve of a truck loaded with ATP guarding according to an embodiment of the present disclosure;
FIG. 3 illustrates a flow chart of a method of calculating a smoothed work vehicle acceleration-velocity schedule according to an embodiment of the disclosure;
FIG. 4 shows a flow chart of a method of calculating an EBI curve according to an embodiment of the present disclosure;
FIG. 5 shows a schematic of an acceleration-velocity curve and an EBI curve of a work vehicle after smoothing according to an embodiment of the present disclosure;
FIG. 6 shows a block diagram of an ATP-guarded machineshop car EBI curve calculation apparatus, according to an embodiment of the present disclosure;
FIG. 7 illustrates a block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Fig. 2 shows a flow chart of a method 200 for calculating an EBI curve of an ATP-protected engineering truck according to an embodiment of the present disclosure.
At block 210, the ATP in-vehicle device obtains information sent by the ground system; the information comprises the distance from the engineering truck head to a target end point in the MA and the engineering truck speed;
at block 220, acquiring the corresponding maximum traction acceleration of the engineering truck from the smoothed acceleration-velocity meter of the engineering truck according to the speed of the engineering truck;
in some embodiments, different acceleration-speed tables are preset for the engineering vehicle and the electric bus respectively.
In some embodiments, the smoothed machineshop car acceleration-velocity schedule is obtained by: acquiring an acceleration-speed parameter of the engineering truck; and smoothing the acceleration-speed parameters of the engineering truck according to a preset smoothing rule to generate a smoothed acceleration-speed meter of the engineering truck.
The pre-processing smoothing rule comprises: and generating the corrected acceleration value of the engineering truck according to the acceleration change rate in the low-speed, medium-speed and high-speed areas by taking the initial acceleration value of the engineering truck as a reference. For example, the corrected acceleration value of the engineering truck in the low-speed area is generated according to the acceleration change rate in the low-speed area by taking the initial acceleration value of the engineering truck as a reference; generating a corrected acceleration value of the engineering vehicle in the middle speed area according to the acceleration change rate in the middle speed area by taking the obtained acceleration value at the end point of the low speed area as a reference; and generating the corrected acceleration value of the engineering vehicle in the high-speed area according to the acceleration change rate in the high-speed area by taking the obtained acceleration value at the end point of the medium-speed area as a reference.
In some embodiments, the preset smoothing rule is obtained by reversely deducing the acceleration change rate according to a target EBI curve of the engineering vehicle; or may be obtained from the experience of an engineer; and the acceleration-speed curve of the electric bus can be obtained.
In some embodiments, as shown in fig. 3, the smoothed machineshop car acceleration-velocity schedule is obtained by:
at block 310, acquiring acceleration-speed parameters of the engineering truck and acceleration-speed parameters of the electric bus respectively;
at block 320, calculating an inflection point of an acceleration-speed curve of the electric motor coach, and dividing the acceleration-speed curve into different regions;
in some embodiments, the inflection point of the acceleration-speed curve of the electric bus is calculated by analyzing the acceleration-speed parameter of the electric bus; calculating the slope of the curve, and taking a point with a slope change value larger than a preset threshold value as an inflection point of the curve; in the present embodiment, the speed values corresponding to the inflection points are 50kmph and 80 kmph.
Dividing the acceleration-speed curve into different areas according to the inflection point; namely a low-speed area, a medium-speed area and a high-speed area; that is, the slope (acceleration rate) of the curve is different in different regions
The average values of the acceleration change rates in the different regions are calculated, respectively.
At block 330, the average of the jerks in the different regions is calculated, respectively.
In this embodiment, the corrected acceleration-speed curve of the engineering truck is similar to the acceleration-speed change law of the electric bus, and the acceleration changes in the low-speed and high-speed areas are relatively smooth.
In some embodiments, the method further comprises the step of verifying the corrected engineering truck acceleration-speed curve, and according to the corrected engineering truck acceleration-speed curve, the corresponding engineering truck maximum traction acceleration is obtained, and other engineering truck performance parameters are obtained; generating an EBI curve according to the maximum traction acceleration of the engineering truck, the performance parameters of other vehicles and the information; and judging whether the calculated EBI is higher than the calculated EBI at the low speed when the train speed is increased in the EBI curve, and further correcting the corrected engineering vehicle acceleration-speed curve if the calculated EBI is higher than the calculated EBI at the low speed.
At block 230, an EBI curve is generated based on the maximum tractive acceleration of the vehicle, other vehicle performance parameters, and the information.
In some embodiments, the vehicle performance parameters include acceleration of emergency braking, response and pull-off time for emergency braking onboard systems, response time established for emergency braking processes, maximum pull acceleration.
In some embodiments, the process of applying emergency braking to the train may be divided into a CSM ceiling speed monitoring zone and a TSM target speed monitoring zone;
in CSM region, EBI curve satisfies CSME EBI ═ EB-a1t0。
In the TSM area, the EBI curve satisfies the EBI calculation formula:
S0+S1+S2＝S；
v1＝v0+a1t0；
S1＝v1t1；
the finishing agent can be obtained by finishing,
where S is the distance of the train head to the target end point in MA, v0To implement emergency braking the speed of the train, a2Is the acceleration of the emergency brake, t0Response and cut-off of traction time for emergency braking of an on-board system, t1Response time established for emergency braking process, a1The maximum traction acceleration of the train.
In the above formula, only v0Unknown, therefore v can be calculated from information transmitted by the terrestrial system0. V also needs to be adjusted0And comparing with CMSEBI, and taking a smaller value as the EBI speed limit of the train.
In some embodiments, the following sub-steps are included;
at block 410, calculating the EBI speed limit of the position of the locomotive;
in some embodiments, the EBI speed limit of the position of the vehicle head is calculated according to the three-stage execution process; the EBI curve satisfies the EBI calculation formula:
calculating the EBI speed limit of the position of the vehicle head according to the two-stage execution process; in the process, the response and traction removal delay stages of the emergency braking vehicle-mounted system are not considered; the EBI curve satisfies the EBI calculation formula: s1+ S2 ═ S; the finishing agent can be obtained by finishing,
and taking the larger value of the EBI speed limit calculated according to the three-stage execution process and the EBI speed limit calculated according to the two-stage execution process as the EBI speed limit of the position of the vehicle head.
At block 420, calculating an EBI speed limit at the vehicle body;
calculating the EBI speed limit at the vehicle body according to the two-stage execution process; in the process, the response and traction removal delay stages of the emergency braking vehicle-mounted system are not considered; the EBI curve satisfies the EBI calculation formula:
wherein S is2Is the distance of the train body to the target end point in the MA.
At block 430, the EBI speed limit of the train is determined according to the EBI speed limit at the position of the train head and the EBI speed limit at the position of the train body.
In some embodiments, the EBI speed limit at the position of the locomotive is compared with the EBI speed limit at the position of the locomotive body, and the smaller value is taken as the EBI speed limit of the train.
In some embodiments, the calculated EBI speed limit needs to be compared with the CMSEBI, and a smaller value is taken as the EBI speed limit of the train.
The acceleration-velocity curve and EBI curve of the machineshop car obtained according to this embodiment after the smoothing process are shown in fig. 5.
According to the embodiment of the disclosure, the following technical effects are achieved:
the generated engineering van EBI curve is similar to the electric bus EBI curve, and the problem that the EBI is sharply increased or reduced along with the increase or reduction of the speed due to the overlarge difference between the engineering van acceleration-speed curve and the electric bus is solved.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present disclosure is not limited by the order of acts, as some steps may, in accordance with the present disclosure, occur in other orders and concurrently. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that acts and modules referred to are not necessarily required by the disclosure.
The above is a description of embodiments of the method, and the embodiments of the apparatus are further described below.
Fig. 6 shows a block diagram of an ATP-guarded engineering vehicle EBI curve calculation apparatus 600 according to an embodiment of the present disclosure, the apparatus 600 including:
a receiving module 602, configured to receive information sent by a ground system; the information comprises the distance from the engineering truck head to a target end point in the MA and the engineering truck speed;
a performance parameter obtaining module 604, configured to obtain, according to the speed of the engineering truck, a corresponding maximum traction acceleration of the engineering truck from the smoothed acceleration-speed meter of the engineering truck;
and the calculating module 606 is used for generating an EBI curve according to the maximum traction acceleration of the engineering truck, the performance parameters of the engineering truck and the information sent by the ground system.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the described module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
FIG. 7 illustrates a schematic block diagram of an electronic device 700 that may be used to implement embodiments of the present disclosure. As shown, device 700 includes a Central Processing Unit (CPU)701 that may perform various appropriate actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM)702 or computer program instructions loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processing unit 701 performs the various methods and processes described above, such as the methods 200, 300, 400. For example, in some embodiments, the methods 200, 300, 400 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 700 via ROM 702 and/or communications unit 709. When the computer program is loaded into the RAM 703 and executed by the CPU 701, one or more steps of the methods 200, 300, 400 described above may be performed. Alternatively, in other embodiments, the CPU 701 may be configured to perform the methods 200, 300, 400 in any other suitable manner (e.g., by way of firmware).
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (10)
1. An engineering van EBI curve calculation method loaded with ATP protection is characterized by comprising the following steps:
receiving information sent by a ground system; the information comprises the distance from the engineering truck head to a target end point in the MA and the engineering truck speed;
acquiring the corresponding maximum traction acceleration of the engineering truck from the acceleration-speed meter of the engineering truck after the smoothing treatment according to the speed of the engineering truck, and acquiring performance parameters of the engineering truck;
and generating an EBI curve according to the maximum traction acceleration of the engineering truck, the performance parameters of the engineering truck and the information sent by the ground system.
2. The method of claim 1, wherein the smoothed machineshop truck acceleration-velocity schedule is obtained by:
acquiring an acceleration-speed parameter of the engineering truck;
and smoothing the acceleration-speed parameters of the engineering truck according to a preset smoothing rule to generate a smoothed acceleration-speed meter of the engineering truck.
3. The method of claim 2, wherein the preset smoothing rule comprises:
and generating the corrected acceleration value of the engineering truck according to the acceleration change rate in the low-speed, medium-speed and high-speed areas by taking the initial acceleration value of the engineering truck as a reference.
4. The method of claim 2, wherein the preset smoothing rule is obtained by backstepping the jerk according to a target EBI curve of the machineshop truck.
5. The method according to claim 2, wherein the preset smoothing rule is obtained by:
respectively acquiring an acceleration-speed parameter of the engineering truck and an acceleration-speed parameter of the electric bus;
calculating inflection points of an acceleration-speed curve of the electric bus, and dividing the acceleration-speed curve into different areas;
the average values of the acceleration change rates in the different regions are calculated, respectively.
6. The method of claim 1, wherein generating an EBI curve based on the maximum tractive acceleration of the work vehicle, the work vehicle performance parameters, and information transmitted by the ground system comprises:
calculating the EBI speed limit of the position of the vehicle head;
calculating the EBI speed limit at the vehicle body;
and determining the EBI speed limit of the train according to the EBI speed limit at the position of the train head and the EBI speed limit at the position of the train body.
7. The method of claim 6, further comprising:
and adjusting the corrected acceleration value of the engineering truck according to the correlation between the EBI speed limit and the speed of the engineering truck.
8. An EBI curve calculation device of an engineering vehicle loaded with ATP protection is characterized by comprising:
the receiving module is used for receiving information sent by the ground system; the information comprises the distance from the engineering truck head to a target end point in the MA and the engineering truck speed;
the performance parameter acquisition module is used for acquiring the corresponding maximum traction acceleration of the engineering truck from the acceleration-speed meter of the engineering truck after the smoothing treatment according to the speed of the engineering truck and acquiring performance parameters of the engineering truck;
and the calculation module is used for generating an EBI curve according to the maximum traction acceleration of the engineering truck, the performance parameters of the engineering truck and the information sent by the ground system.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the program, implements the method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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